| /* | |
| FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd. | |
| FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT | |
| http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS tutorial books are available in pdf and paperback. * | |
| * Complete, revised, and edited pdf reference manuals are also * | |
| * available. * | |
| * * | |
| * Purchasing FreeRTOS documentation will not only help you, by * | |
| * ensuring you get running as quickly as possible and with an * | |
| * in-depth knowledge of how to use FreeRTOS, it will also help * | |
| * the FreeRTOS project to continue with its mission of providing * | |
| * professional grade, cross platform, de facto standard solutions * | |
| * for microcontrollers - completely free of charge! * | |
| * * | |
| * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
| * * | |
| * Thank you for using FreeRTOS, and thank you for your support! * | |
| * * | |
| *************************************************************************** | |
| This file is part of the FreeRTOS distribution. | |
| FreeRTOS is free software; you can redistribute it and/or modify it under | |
| the terms of the GNU General Public License (version 2) as published by the | |
| Free Software Foundation AND MODIFIED BY the FreeRTOS exception. | |
| >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to | |
| distribute a combined work that includes FreeRTOS without being obliged to | |
| provide the source code for proprietary components outside of the FreeRTOS | |
| kernel. | |
| FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
| WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
| FOR A PARTICULAR PURPOSE. See the GNU General Public License for more | |
| details. You should have received a copy of the GNU General Public License | |
| and the FreeRTOS license exception along with FreeRTOS; if not it can be | |
| viewed here: http://www.freertos.org/a00114.html and also obtained by | |
| writing to Real Time Engineers Ltd., contact details for whom are available | |
| on the FreeRTOS WEB site. | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
| including FreeRTOS+Trace - an indispensable productivity tool, and our new | |
| fully thread aware and reentrant UDP/IP stack. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems, who sell the code with commercial support, | |
| indemnification and middleware, under the OpenRTOS brand. | |
| http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
| engineered and independently SIL3 certified version for use in safety and | |
| mission critical applications that require provable dependability. | |
| */ | |
| /* | |
| * Creates all the demo application tasks, then starts the scheduler. The WEB | |
| * documentation provides more details of the standard demo application tasks. | |
| * In addition to the standard demo tasks, the following tasks and tests are | |
| * defined and/or created within this file: | |
| * | |
| * "Check" task - This only executes every five seconds but has a high priority | |
| * to ensure it gets processor time. Its main function is to check that all the | |
| * standard demo tasks are still operational. While no errors have been | |
| * discovered the check task will toggle an LED every 5 seconds - the toggle | |
| * rate increasing to 500ms being a visual indication that at least one task has | |
| * reported unexpected behaviour. | |
| * | |
| * "Reg test" tasks - These fill the registers with known values, then check | |
| * that each register still contains its expected value. Each task uses | |
| * different values. The tasks run with very low priority so get preempted very | |
| * frequently. A register containing an unexpected value is indicative of an | |
| * error in the context switching mechanism. | |
| * | |
| */ | |
| /* Standard includes. */ | |
| #include <stdio.h> | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| #include "queue.h" | |
| #include "semphr.h" | |
| /* Demo app includes. */ | |
| #include "BlockQ.h" | |
| #include "death.h" | |
| #include "integer.h" | |
| #include "flash.h" | |
| #include "partest.h" | |
| #include "semtest.h" | |
| #include "PollQ.h" | |
| #include "GenQTest.h" | |
| #include "QPeek.h" | |
| #include "recmutex.h" | |
| #include "IntQueue.h" | |
| #include "comtest2.h" | |
| /*-----------------------------------------------------------*/ | |
| /* The time between cycles of the 'check' functionality - as described at the | |
| top of this file. */ | |
| #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS ) | |
| /* The rate at which the LED controlled by the 'check' task will flash should an | |
| error have been detected. */ | |
| #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS ) | |
| /* The LED controlled by the 'check' task. */ | |
| #define mainCHECK_LED ( 3 ) | |
| /* ComTest constants - there is no free LED for the comtest tasks. */ | |
| #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 ) | |
| #define mainCOM_TEST_LED ( 5 ) | |
| /* Task priorities. */ | |
| #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
| #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
| #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
| #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
| /* | |
| * Configure the hardware for the demo. | |
| */ | |
| static void prvSetupHardware( void ); | |
| /* | |
| * Implements the 'check' task functionality as described at the top of this | |
| * file. | |
| */ | |
| static void prvCheckTask( void *pvParameters ); | |
| /* | |
| * Implement the 'Reg test' functionality as described at the top of this file. | |
| */ | |
| static void vRegTest1Task( void *pvParameters ); | |
| static void vRegTest2Task( void *pvParameters ); | |
| /*-----------------------------------------------------------*/ | |
| /* Counters used to detect errors within the reg test tasks. */ | |
| static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222; | |
| /*-----------------------------------------------------------*/ | |
| int main( void ) | |
| { | |
| /* Setup the hardware ready for this demo. */ | |
| prvSetupHardware(); | |
| /* Start the standard demo tasks. */ | |
| vStartLEDFlashTasks( tskIDLE_PRIORITY ); | |
| vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
| vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
| vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
| vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); | |
| vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
| vStartQueuePeekTasks(); | |
| vStartRecursiveMutexTasks(); | |
| vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); | |
| vStartInterruptQueueTasks(); | |
| /* Start the reg test tasks - defined in this file. */ | |
| xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL ); | |
| xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL ); | |
| /* Create the check task. */ | |
| xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
| /* The suicide tasks must be created last as they need to know how many | |
| tasks were running prior to their creation in order to ascertain whether | |
| or not the correct/expected number of tasks are running at any given time. */ | |
| vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
| /* Start the scheduler. */ | |
| vTaskStartScheduler(); | |
| /* Will only get here if there was insufficient memory to create the idle | |
| task. */ | |
| for( ;; ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvCheckTask( void *pvParameters ) | |
| { | |
| unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0; | |
| portTickType xLastExecutionTime; | |
| ( void ) pvParameters; | |
| /* Initialise the variable used to control our iteration rate prior to | |
| its first use. */ | |
| xLastExecutionTime = xTaskGetTickCount(); | |
| for( ;; ) | |
| { | |
| /* Wait until it is time to run the tests again. */ | |
| vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait ); | |
| /* Has an error been found in any task? */ | |
| if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x01UL; | |
| } | |
| if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x02UL; | |
| } | |
| if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x04UL; | |
| } | |
| if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x20UL; | |
| } | |
| if( xArePollingQueuesStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x40UL; | |
| } | |
| if( xIsCreateTaskStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x80UL; | |
| } | |
| if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x100UL; | |
| } | |
| if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x200UL; | |
| } | |
| if( xAreComTestTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x400UL; | |
| } | |
| if( xAreIntQueueTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x800UL; | |
| } | |
| if( ulLastRegTest1Count == ulRegTest1Counter ) | |
| { | |
| ulError |= 0x1000UL; | |
| } | |
| if( ulLastRegTest2Count == ulRegTest2Counter ) | |
| { | |
| ulError |= 0x1000UL; | |
| } | |
| ulLastRegTest1Count = ulRegTest1Counter; | |
| ulLastRegTest2Count = ulRegTest2Counter; | |
| /* If an error has been found then increase our cycle rate, and in so | |
| going increase the rate at which the check task LED toggles. */ | |
| if( ulError != 0 ) | |
| { | |
| ulTicksToWait = mainERROR_PERIOD; | |
| } | |
| /* Toggle the LED each itteration. */ | |
| vParTestToggleLED( mainCHECK_LED ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void prvSetupHardware( void ) | |
| { | |
| extern void mcf5xxx_wr_cacr( unsigned portLONG ); | |
| portDISABLE_INTERRUPTS(); | |
| /* Enable the cache. */ | |
| mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 ); | |
| asm volatile( "NOP" ); /* As per errata. */ | |
| /* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */ | |
| MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 ); | |
| /* Wait for PLL to lock. */ | |
| while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) ) | |
| { | |
| __asm__ volatile ( "NOP" ); | |
| } | |
| /* Setup the port used to toggle LEDs. */ | |
| vParTestInitialise(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ) | |
| { | |
| /* This will get called if a stack overflow is detected during the context | |
| switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack | |
| problems within nested interrupts, but only do this for debug purposes as | |
| it will increase the context switch time. */ | |
| ( void ) pxTask; | |
| ( void ) pcTaskName; | |
| for( ;; ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void vRegTest1Task( void *pvParameters ) | |
| { | |
| /* Sanity check - did we receive the parameter expected? */ | |
| if( pvParameters != &ulRegTest1Counter ) | |
| { | |
| /* Change here so the check task can detect that an error occurred. */ | |
| for( ;; ); | |
| } | |
| /* Set all the registers to known values, then check that each retains its | |
| expected value - as described at the top of this file. If an error is | |
| found then the loop counter will no longer be incremented allowing the check | |
| task to recognise the error. */ | |
| asm volatile ( "reg_test_1_start: \n\t" | |
| " moveq #1, %d0 \n\t" | |
| " moveq #2, %d1 \n\t" | |
| " moveq #3, %d2 \n\t" | |
| " moveq #4, %d3 \n\t" | |
| " moveq #5, %d4 \n\t" | |
| " moveq #6, %d5 \n\t" | |
| " moveq #7, %d6 \n\t" | |
| " moveq #8, %d7 \n\t" | |
| " move #9, %a0 \n\t" | |
| " move #10, %a1 \n\t" | |
| " move #11, %a2 \n\t" | |
| " move #12, %a3 \n\t" | |
| " move #13, %a4 \n\t" | |
| " move #14, %a5 \n\t" | |
| " move #15, %a6 \n\t" | |
| " \n\t" | |
| " cmpi.l #1, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #2, %d1 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #3, %d2 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #4, %d3 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #5, %d4 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #6, %d5 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #7, %d6 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #8, %d7 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move %a0, %d0 \n\t" | |
| " cmpi.l #9, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move %a1, %d0 \n\t" | |
| " cmpi.l #10, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move %a2, %d0 \n\t" | |
| " cmpi.l #11, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move %a3, %d0 \n\t" | |
| " cmpi.l #12, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move %a4, %d0 \n\t" | |
| " cmpi.l #13, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move %a5, %d0 \n\t" | |
| " cmpi.l #14, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move %a6, %d0 \n\t" | |
| " cmpi.l #15, %d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " movel ulRegTest1Counter, %d0 \n\t" | |
| " addql #1, %d0 \n\t" | |
| " movel %d0, ulRegTest1Counter \n\t" | |
| " bra reg_test_1_start \n\t" | |
| "reg_test_1_error: \n\t" | |
| " bra reg_test_1_error \n\t" | |
| ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void vRegTest2Task( void *pvParameters ) | |
| { | |
| /* Sanity check - did we receive the parameter expected? */ | |
| if( pvParameters != &ulRegTest2Counter ) | |
| { | |
| /* Change here so the check task can detect that an error occurred. */ | |
| for( ;; ); | |
| } | |
| /* Set all the registers to known values, then check that each retains its | |
| expected value - as described at the top of this file. If an error is | |
| found then the loop counter will no longer be incremented allowing the check | |
| task to recognise the error. */ | |
| asm volatile ( "reg_test_2_start: \n\t" | |
| " moveq #10, %d0 \n\t" | |
| " moveq #20, %d1 \n\t" | |
| " moveq #30, %d2 \n\t" | |
| " moveq #40, %d3 \n\t" | |
| " moveq #50, %d4 \n\t" | |
| " moveq #60, %d5 \n\t" | |
| " moveq #70, %d6 \n\t" | |
| " moveq #80, %d7 \n\t" | |
| " move #90, %a0 \n\t" | |
| " move #100, %a1 \n\t" | |
| " move #110, %a2 \n\t" | |
| " move #120, %a3 \n\t" | |
| " move #130, %a4 \n\t" | |
| " move #140, %a5 \n\t" | |
| " move #150, %a6 \n\t" | |
| " \n\t" | |
| " cmpi.l #10, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #20, %d1 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #30, %d2 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #40, %d3 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #50, %d4 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #60, %d5 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #70, %d6 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #80, %d7 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move %a0, %d0 \n\t" | |
| " cmpi.l #90, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move %a1, %d0 \n\t" | |
| " cmpi.l #100, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move %a2, %d0 \n\t" | |
| " cmpi.l #110, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move %a3, %d0 \n\t" | |
| " cmpi.l #120, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move %a4, %d0 \n\t" | |
| " cmpi.l #130, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move %a5, %d0 \n\t" | |
| " cmpi.l #140, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move %a6, %d0 \n\t" | |
| " cmpi.l #150, %d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " movel ulRegTest1Counter, %d0 \n\t" | |
| " addql #1, %d0 \n\t" | |
| " movel %d0, ulRegTest2Counter \n\t" | |
| " bra reg_test_2_start \n\t" | |
| "reg_test_2_error: \n\t" | |
| " bra reg_test_2_error \n\t" | |
| ); | |
| } | |
| /*-----------------------------------------------------------*/ | |